
Keyword: "algorithm"
Sergei Konstantinovich Kiselev, Doctorof Sciences in Engineering; graduatedfromthe Faculty of Radioengineering of Ulyanovsk Polytechnic Institute with a degree in Aircraft and Instrument Engineering; Head of the Department of Measuring and Computing System of Ulyanovsk State Technical University; an author of articles, monographs, patent holder in the field of instrumentation, development and research of onboard control systems. email: ksk@ulstu.ruS.K. Kiselev,
Van Tuan Tran, Postgraduate Student of the Department of Measuring and Computing Systems of UlSTU; graduated from the Faculty of Information System and Technologies of UlSTU; an author of articles in the field of modeling and research of motion control systems for mobile robots. email: bhkqvn@gmail.comV.T. Tran 

Control of a ground mobile robot motion in case
of the navigational data corruption of the satellite navigation system
The article discusses the determination of navigational data corruption, which received by the satellite navigation system as well as traffic control of ground mobile robots.
It also specifies the movement features of ground robots, which affect the data integrity monitoring. It proposes an algorithm of control to implement the methods of autonomous onboard monitoring of the navigational data integrity. The algorithm is based on the equations of signal correspondence in various parts of the control system. It is designed to determine the inoperability of the satellite navigation system that implies the loss of signal and failure in the navigation problem solution. The algorithm takes into account the nondeterministic nature of moving ground robot with possible stops in the process of following the trajectory. The article considers the implementation variants of algorithm to assess reliability for the control system containing additional sensors of the robot’s displacement and for the hardwareredundant system containing no additional sensors. The results of modeling the movement of a ground mobile robot along an arbitrary trajectory in case of navigational data corruption are presented. The features of algorithm based on the simulation results are described in the article.
The authors considered variants of robot control in case of navigational data corruption. The structure of the system and a method for controlling a mobile robot in case of satellite navigation system failures are also proposed. The method is based on the control mode in the system, according to the measured data of the position of the robot in the case of navigational data corruption or otherwise according to the data calculated from the robot model. The implementation of the method makes it possible to avoid significant deviations of the robot from a given trajectory of movement at intervals of signal loss of the satellite navigation system.
Ground mobile robot, control system, control method, satellite navigation system, motion, navigation data, integrity, simulation, algorithm.



Sections: Information systems
Subjects: Information systems. 
Damir Maratovich Valeev, graduated from Ulyanovsk State University; Postgraduate Student at the Department of Telecommunication Technologies and Networks of Ulyanovsk State University; an author of articles in the field of cryptography and steganography. email: damirivaleev@gmail.comD.M. Valeev
Aleksei Arkadevich Smagin, Doctor of Sciences in Engineering, Professor; graduated from the Radioengineering Faculty of Ulyanovsk Polytechnic Institute; Head of the Department of Telecommunication Technologies and Networks of Ulyanovsk State University; an author of articles, inventions, and manuals in the field of the development of information systems of different purposes. email: smaginaa1@mail.ruA.A. Smagin


Determination of payload capacity of container obtained by steganographic technique, not causing distortion
This article discusses the parameters and characteristics of a steganographic algorithm that does not distort the container, such as the versatility of application to different types of information, ease of implementation, as well as the security and payload capacity. The purpose of this work is to determine the dependence of payload in hidden communication channel on the size of the embedded data and container. To achieve this goal, the tasks were set to determine payload at different sizes of the container and the data, as well as whether it was possible to embed secret data completely. To solve these problems, two experiments were conducted with different ratios of the size of the embedded secret and the container. The ratio of sizes of data and container for efficient embedding was determined. Described the settheoretic representation of model of the stegosystem for algorithm, and shown the scheme of operation of this algorithm. Compared payload of container obtained using the proposed algorithm and the existing steganographic methods on the test images of Lenna and Baboon. The experimental results show that the proposed algorithm is more effective than most existing methods in terms of embedding capacity.
Steganography, embedding, key, payload, algorithm, secret, container.



Sections: Information systems
Subjects: Information systems. 
Oksana Vadimovna Maksimova, Candidate of Sciences in Engineering, Associate Professor; graduated from Ulyanovsk State Technical University; Head of the Department of Aviation Equipment of the Bugaev Ulyanovsk State Institute of Civil Aviation; an author of articles, monographs, and inventions in the field of optoelectronics and microwave engineering. email: first32007@yandex.ruO.V. Maksimova,
Petr Valerevich Nikolaev, Postgraduate Student at the Department of Design and Technology of Electronic Devices of Ulyanovsk State Technical University; graduated from the Radioengineering Faculty of UlSTU; an author of articles, inventions in the field of optoelectronics and computer engineering. email: nikollaew@mail.ruP.V. Nikolaev,
Mikhail Konstantinovich Samokhvalov, Doctor of Sciences in Physics and Mathematics, Professor at Ulyanovsk State Technical University; graduated from the Faculty of Physics of Chernyshevsky Saratov State University; an author of articles, monographs in the field of optoelectronics. email: sam@ulstu.ruM.K. Samokhvalov


Methods and means for automated monitoring of thin film indicators
The article deals with the algorithms, methods for measuring the structure parameters of thinfilm electroluminescent indicators. An algorithm for determining threshold voltage and plotting currentbrightness characteristics was created. The realization of this algorithm accelerates the parameters monitoring process when producing the known display equipment items and developing the new one based on thinfilm electroluminescent indicators. The main aspects for a comprehensive approach to solve problems of measuring process automation of parameter values of thinfilm electroluminescent indicator structures were identified. The features of the thinfilm electroluminescent indicator performance were considered as a basis for building the structure of automated testers. The automation of experimental results processing at the software level was described. The key parameters of indicators were determined, automation problems of measuring processes were denoted. The algorithm for determining threshold voltage and plotting currentbrightness characteristics of thinfilm electroluminescent indicators in an automated mode was developed. The ideas explained in this article allow formulating the requirement specification on developing a device for automated measuring the thinfilm electroluminescent element parameters as well as its components and software.
Thinfilm indicator, brightness, automation, measurements, electroluminescence, thin films, algorithm.



Sections: Electrical engineering and electronics
Subjects: Electrical engineering and electronics. 
Aleksei Vladimirovich Neizhmak, he Marshal Budjonny Military Academy of Signal Corps, raduated from the Marshal Budjonny Military Academy of Signal Corps; Postgraduate Student in the Military Academy of Communications; an author of articles in the field of noiseimmune coding. [email: a.v.neizhmak@mail.ru]A. Neizhmak


The Model for the Operation of a Reliability Enhancement System Using Control Packages
The article deals with a formal description of the algorithm (process) of unidirectional transmission of information in a radio link with its feedback (unidirectional halfduplex). It does not violate the generality of the examination, since the process of simultaneous counterpropagating information in a radio link (duplex) is reduced to an independent description of two mutually independent unidirectional transmission processes. A description of the algorithm for the operation of a reliability enhancement system using control packages in terms of Markovian (semiMarkov) processes and the theory of stochastic control without considering the effect of electronic suppression are also given. For this purpose, the working states of the calling and answering subscribers were formulated and described, and a list of potential, allowed and reduced states was defined. For the purpose of explaining the principles of constructing the model, a radio link that functioned without taking into account the influence of the electronic suppression system was considered. Reliability enhancement system, receipt, control packages, algorithm, transition state graph of a random process, calling subscriber, answering subscriber.



Sections: Information systems
Subjects: Information systems. 
Irina Aleksandrovna Sedykh, Lipetsk State Technical University, Candidate of Physics and Mathematics; graduated from the Faculty of Automation and Informatics of Lipetsk State Technical University (LSTU); Associate Professor of the Mathematics Department at Lipetsk State Technical University; an author of monographs and articles, owner of certificates of registration of the computer programs in the field of neighborhood modeling of dynamic systems. [email: sedykhirina@yandex.ru]I. Sedykh,
Evgenii Sergeevich Anikeev, Lipetsk State Technical University, graduated from the Faculty of Physics and Engineering of Lipetsk State Technical University (LSTU); Master’s Degree Student at Lipetsk State Technical University; an author of articles, owner of certificates of registration of the computer programs in the field of neighborhood modeling of dynamic systems. [email: evgenijanikeev@yandex.ru]E. Anikeev


Hierarchical Colored Time Petri Nets on the Basis of Neighborhood Models
The article describes the definition and algorithm for the operation of common labeled Petri nets. Some varieties of Petri nets such as timed, colored and colored timed Petri nets are shown. The proposed hierarchical colored Petri nets based on neighborhood models are an extension of the considered classes. The hierarchy in this system is represented by a set of positions and transitions, in each of which a neighborhood model can be embedded. The concept of a dynamic neighborhood model is also given in this paper. Adding a hierarchy allows to analyze additional properties of simulated dynamic distributed processes. For colored Petri nets with hierarchical transitions, an operation algorithm is formulated that is designed and implemented as a Java program. The peculiarity of the models under consideration is the synchronization of the operating time of the external and internal systems. In addition, the control signals of the embedded neighborhood model depend on the change in the current marking of the Petri net when a hierarchical transition occurs. An example of the functioning of a Petri net with a hierarchical transition is given. Modelling, colored timed petri net, hierarchical petri net, algorithm, neighborhood model.



Sections: Mathematical modeling
Subjects: Mathematical modeling. 
Dmitrii Valerevich Khakimov, ScientificProduction Enterprise “Digital radio systems”, graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; Postgraduate Student of the Department of Measuring and Computing Systems of Ulyanovsk State Technical University; Engineer of the Complex Department of ScientificProduction Enterprise “Digital radio systems”; an author of articles in the field of avionics safety assessment and airborne hardware complexes structure optimization. [email: sense151015@mail.ru]D. Khakimov, Sergei Konstantinovich Kiselev, Ulyanovsk State Technical University, Doctor of Engineering; graduated from Ulyanovsk Polytechnic Institute with a specialty in Aircraft Instruments Engineering; Professor and Head of the Department of Measuring and Computing Systems of Ulyanovsk State Technical University; an author of monographs, articles, and patents in the field of instrument engineering. [email: ksk@ulstu.ru]S. Kiselev


Optimization of the Functional Structure of Airborne Hardware Complexes
The article shows that it is unnecessary to distribute functions on the basis of their belongings to one of the air vehicle (AV) level in order to take advantages of the integrated modular avionics (IMA) architecture in constructing the airborne hardware complexes (AHC). The method of construction and optimization of the functional structure of AV AHC on the basis of constructing a product functions tree is considered. The basic principles of constructing function groups optimized for implementation on a hardware platform with the desired characteristics are formulated. The authors developed a notion of indirect function realization and described its main advantages and disadvantages. Also, a product functions tree describing algorithm was proposed and outlined. The recursive action algorithm was given by the example of forming one group of functions. The method for improving the load on a hardware unit with its lack of load after the process of forming a group of functions was proposed. Airborne hardware complex, architecture, optimization, algorithm, product functions tree, security, integrated modular avionics.



Sections: Computeraided engineering
Subjects: Computeraided engineering, Automated control systems, Architecture of ship's system. 
Vyacheslav Andreevich Sergeev, Ulyanovsk Branch of the Kotel’nikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences, Doctor of Engineering, Associate Professor; graduated from the Faculty of Physics at Gorky State Technical University; Director of the Ulyanovsk Branch of the Kotel’nikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences; an author of articles in the field of the modeling and research of semiconductor devices and integrated circuits parameters. [email: sva@ulstu.ru]V. Sergeev, Ilya Vladimirovich Frolov, Ulyanovsk Branch of the Kotel’nikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences, graduated from the Faculty of Radioengineering at Ulyanovsk State Technical University; Scientific Associate at the Ulyanovsk Branch of the Kotel’nikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences; an author of articles in the field of methods and means of the nondestructive inspection for semiconductor devices. [email: ilyafrolov88@mail.ru]I. Frolov


The Algorithm for the Frequencydependent Thermal Impedance Parameter Identification of Thermal Circuits of the Semiconductor Devices
The limit functionality and reliability of semiconductor devices (SD) are determined by the active region temperature of the device structures when the SD is operating as a part of electronic equipment. For practical applications, this temperature is calculated in accordance with the principle of thermoelectric analogy based on the equivalent thermal circuit which is presented as an electric circuit of several seriesconnected RCelements, each of which corresponds to a specific layer of the SDstructure. The effectiveness of the SDassembly quality control and the reject of devices with heat sink defects depend on the accuracy of determining the parameters of their equivalent thermal circuit. A brief analysis of the known methods for identifying and determining the parameters of the SD equivalent thermal circuit over the transient thermal characteristics is presented. A more accurate algorithm for the identification and the calculation of the parameters of equivalent thermal circuits in the form of SD multilink RC circuit for the frequency dependence of the modulus and the phase of the thermal impedance is proposed. The algorithm approbation is performed in terms of the identification and the calculation of the parameters of the thermal model of a lowpower hetero junction LED of the Vishay production TLCR5800 type. The possibilities of automation of the proposed algorithm in terms of mass control are considered. Semiconductor device, equivalent thermal circuit, thermal impedance, thermal parameters, identification, algorithm, led.



Sections: Mathematical modeling
Subjects: Mathematical modeling, Electrical engineering and electronics. 
Sergey Aleksandrovich Norseev, V.A. Degtyarev Kovrov State Technological Academy, Postgraduate Student at the Department of Instrument Engineering of V.A. Degtyarev Kovrov State Technological Academy; an author of articles in the field of robot group management. [email: norseev@gmail.com]S. Norseev, Dmitriy Viktorovich Bagaev, V.A. Degtyarev Kovrov State Technological Academy, Candidate of Engineering, Associate Professor at the Department of Instrument Engineering of V.A. Degtyarev Kovrov State Technological Academy; an author of articles and monographs in the field of system analysis of information systems in robotics. [email: dmitrybag@gmail.com]D. Bagaev


Algorithm Design for Distributed Research of Unknown Terrain Using a Group of Mobile Robots
The paper examines a research task of unknown terrain by group of mobile robots. A formal problem statement for the unknown terrain survey using a group of the mobile robots is carried out. The method of dividing the unknown terrain into zones that considers limitations of computer vision systems of a single robot and free geometrical shape of the area is described. An algorithm for unknown terrain survey by group of mobile robots that considers the possible presence in the survey area obstacles of arbitrary shape and size and that detects in the survey terrain some object, which requires for special actions by robots, is proposed. This algorithm considers the limitations of computer vision systems of robots and arbitrary geometrical shape of the area.The software modeling of the distributed robotic system on the base of the proposed algorithm conducted in the frame of this work has shown that the proposed algorithm can be used for solving the distributed unknown terrain survey problem. The application architecture used for the simulation of the described robotic system is given. Robotics, robotics group control, algorithms.



Sections: Artificial intelligence
Subjects: Artificial intelligence, Mathematical modeling. 
Viacheslav Andreevich Sergeevsergeev, Ulyanovsk Branch of the Kotelnikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences, Doctor or Engineering, Associate Professor, graduated from the Faculty of Physics at the Gorkov State University; Director of the Ulyanovsk Branch of the Kotelnikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences; an author of articles and inventions in the field of modeling and research of characteristics of semiconductor devices and integrated circuits [email: sva@ulstu.ru]V. Sergeev, Ilya Vladimirovich Frolov, Ulyanovsk Branch of the Kotelnikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences, a research officer of the Ulyanovsk Branch of the Kotelnikov Institute of RadioEngineering and Electronics of the Russian Academy of Sciences; graduated from the Faculty of RadioEngineering at Ulyanovsk State Technical University; an author of articles in the field of methods and facilities of the nondestructive testing of semiconductor devices. [email: ilyafrolov88@mail.ru]I. Frolov


An Algorithm to Determine a Set of Optimal Frequencies for the Test Signal When Measuring Parameters of Multielement Twoterminals
An algorithm for determining the optimal test signal frequency set, minimizing the sum of methodical errors indirect measurement of parameters of multielement twoterminal by impedance spectroscopy method is proposed. The essence of the algorithm is repeated computer simulation of the measurement of the impedance modulus and phase of the twopole considering additive random errors and calculation errors in determining the parameters of the two terminal to the relevant functional dependencies on a given set of frequencies. The accuracy of the algorithm is confirmed by the example of the twoelement twoterminal in the form of a parallel RCcircuit. It is shown that the results of computer simulations practically coincide with the results of the analytical calculation. An example of determining the optimal test signal frequency set when measuring the threeelement twoterminal with a structure similar to smallsignal equivalent circuit of a semiconductor diode. As optimization criterion adopted condition of minimum sum of relative errors in the determination of all parameters of multielement twoterminal, but the proposed algorithm works with the other criteria. Multielement twoterminal, parameters, measurement, impedance spectroscopy, error, algorithm, optimal frequencies.



Sections: Mathematical modeling
Subjects: Mathematical modeling, Electrical engineering and electronics. 
Aleksey Robertovich Degtyarev, PJSC Ulyanovsk Instrument Manufacturing Design Bureau, Postgraduate Student of Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; an engineer of PJSC Ulyanovsk Instrument Manufacturing Design Bureau; specializes in the field of creation and development of aircraft and land vehicle hardware. [email: alexmind@rambler.ru]A. Degtyarev, Gennadiy Viktorovich Medvedev, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from Belgorod Technical Institute for Building Materials; Professor at the Department of Measuring Computer Systems at Ulyanovsk State Technical University; specializes in the field of creation and development of measuring instruments and equipment intended for automation of devicemanufacturing processes, R & D organizations; an author of monographs and great number of articles and patents in the mentioned field. [email: ivk@ulstu.ru]G. Medvedev


Task Distribution Algorithm for Multiprocessor Systems of Integrated Modular Avionics
This paper considers briefly functional tasks distribution problems in multiprocessor systems. It’s shown that the construction of perspective reliable Integrated Modular Avionics System (IMA) is impossible without development of integrated distribution algorithms. The approaches to the functional tasks decomposition problem solving, and a specific character of this problem with regard to integrated complexes of airborne equipment are examined. The functional tasks distribution algorithm among available IMA multiprocessor hardware resources is proposed in order to provide minimum network loading. Helicopter hardware complex is considered as an example. Respective hardware and functional graphs are built and the given tasks are distributed with presented algorithm. This algorithm can be used for IMA crates building and research, and for IMA hardwaretosoftware interactions mathematical models development. Multiprocessor system, task distribution, algorithm, integrated modular avionics.



Sections: Information systems
Subjects: Information systems, Architecture of ship's system. 
Pavel Viktorovich Devien, Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars', deputy chief designer at Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars'; graduated from the Faculty of Information Systems and Technology of Ulyanovsk State Technical University; specializes in the development of specialpurpose software for computeraided C2 systems [email: mars@mv.ru]P. Devien, Andrey Evgenyevich Kukin, Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars', postgraduate student at Ulyanovsk State University; graduated from the Faculty of Information Technology of Ulyanovsk State University; programmer at Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars'; author of articles in the field of the development of software for computeraided C2 systems [email: mars@mv.ru]A. Kukin, Evgeny Serafimovich Kukin, Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars', Candidate of Engineering, Associate Professor; graduated from the Faculty of Physics of Voronezh State University; deputy chief designer, head of a department at Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars'; author of articles in the field of the development of software for computeraided C2 systems [email: mars@mv.ru]E. Kukin, Sergey Petrovich Navoytsev, Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars', Candidate of Engineering, Associate Professor; graduated from the Faculty of Software for ComputerAided C2 Systems of Popov Naval Radioelectronics Academy; deputy chief designer at Federal ResearchandProduction Center Open JointStock Company 'ResearchandProduction Association 'Mars'; author of articles, monographs in the field of the development of software for computeraided C2 systems [email: navojcev@yandex.ru]S. Navoytsev


System for Operational and Tactical Calculations
The article deals with an approach to the implementation of software
(system for operational and tactical calculations), which is a unified base
technological means. This means can be used for information and calculation
subsystem of computeraided command and control system when implementing
calculation tasks and procedures at all stages of live cycle during both development
and operation. The system allows the complexation of existing modules
of calculation library during the creation of new calculation procedures and models,
ensures net distributed organization of computational process of information and calculation
subsystem. It can be of interest for developers of computeraided C2 systems. Algorithm, calculation techniques, calculation module, calculation library, organization of computational process.



Sections: Integrated command and control systems. ship’s complexes and systems
Subjects: Automated control systems, Architecture of ship's system. 
Anton Ivanovich Martynov, Ulyanovsk State Technical University, Candidate of Engineering; graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; Associate Professor at the Chair Computer Engineering of Ulyanovsk State Technical University; has articles, certificates of registration of software in the field of automation of reverse engineering of embedded systems; is interested in reverse engineering. [email: mai@ulstu.ru]A. Martynov


Identification of Arithmetic Expressions During Reverse Engineering
The present article is devoted to the field reverse engineering of embedded systems. It considers a technology for the identification of arithmetic computercode expressions of different microprocessor platforms. The arithmetic expressions are identified by means of templates in XML. The identification algorithm analyzes a postfix notation of an arithmetic expression and converts it into an infix form, and fulfills, thereby, the reverse process of compiler conversion. Reverse engineering, identification, arithmetic expressions, embedded systems, microprocessorbased systems, xmltemplates, postfix form, infix form, algorithm.



Sections: Computeraided design systems
Subjects: Computeraided engineering, Information systems. 
